diff --git a/boards/micoair/h743-aio/default.px4board b/boards/micoair/h743-aio/default.px4board index 5e68a6dbc5..0fd31b83fc 100644 --- a/boards/micoair/h743-aio/default.px4board +++ b/boards/micoair/h743-aio/default.px4board @@ -7,29 +7,53 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" +CONFIG_BOARD_PARAM_FILE="/fs/microsd/params" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_DPS310=y +CONFIG_DRIVERS_BATT_SMBUS=y +CONFIG_DRIVERS_CAMERA_CAPTURE=y +CONFIG_DRIVERS_CAMERA_TRIGGER=y CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y -CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y +CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y +CONFIG_COMMON_HYGROMETERS=y CONFIG_DRIVERS_IMU_BOSCH_BMI088=y CONFIG_DRIVERS_IMU_BOSCH_BMI270=y +CONFIG_COMMON_INS=y CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_OPTICAL_FLOW=y +CONFIG_DRIVERS_OSD_MSP_OSD=y +CONFIG_DRIVERS_POWER_MONITOR_INA220=y +CONFIG_DRIVERS_POWER_MONITOR_INA226=y +CONFIG_DRIVERS_POWER_MONITOR_INA228=y +CONFIG_DRIVERS_POWER_MONITOR_INA238=y +CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y +CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y CONFIG_DRIVERS_PPS_CAPTURE=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_COMMON_RC=y CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_ROBOCLAW=y +CONFIG_COMMON_RPM=y +CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_DRIVERS_TAP_ESC=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y CONFIG_BOARD_UAVCAN_INTERFACES=1 +CONFIG_COMMON_UWB=y +CONFIG_COMMON_WIND_SENSOR=y +CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y +CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y @@ -39,9 +63,9 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_MODE_MANAGER=y -CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y diff --git a/boards/micoair/h743-aio/extras/micoair_h743-aio_bootloader.bin b/boards/micoair/h743-aio/extras/micoair_h743-aio_bootloader.bin index 362848ab80..09c5d9fc31 100755 Binary files a/boards/micoair/h743-aio/extras/micoair_h743-aio_bootloader.bin and b/boards/micoair/h743-aio/extras/micoair_h743-aio_bootloader.bin differ diff --git a/boards/micoair/h743-aio/firmware.prototype b/boards/micoair/h743-aio/firmware.prototype index c487b88912..cd0a6ec500 100644 --- a/boards/micoair/h743-aio/firmware.prototype +++ b/boards/micoair/h743-aio/firmware.prototype @@ -7,7 +7,7 @@ "summary": "MicoAir743AIO", "version": "0.1", "image_size": 0, - "image_maxsize": 1835008, + "image_maxsize": 1966080, "git_identity": "", "board_revision": 0 } diff --git a/boards/micoair/h743-aio/init/rc.board_defaults b/boards/micoair/h743-aio/init/rc.board_defaults index 5e3cd5bd60..23d1e77fd3 100644 --- a/boards/micoair/h743-aio/init/rc.board_defaults +++ b/boards/micoair/h743-aio/init/rc.board_defaults @@ -19,6 +19,7 @@ param set-default MC_ROLLRATE_K 0.35 param set-default MC_YAWRATE_K 1.2 param set-default MC_YAWRATE_MAX 360 param set-default MAV_TYPE 2 +param set-default MSP_OSD_CONFIG 102 param set-default CA_AIRFRAME 0 param set-default CA_ROTOR_COUNT 4 param set-default CBRK_SUPPLY_CHK 894281 diff --git a/boards/micoair/h743-aio/nuttx-config/scripts/script.ld b/boards/micoair/h743-aio/nuttx-config/scripts/script.ld index 1dc1a0ef97..85f4990724 100644 --- a/boards/micoair/h743-aio/nuttx-config/scripts/script.ld +++ b/boards/micoair/h743-aio/nuttx-config/scripts/script.ld @@ -110,7 +110,7 @@ MEMORY { ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K diff --git a/boards/micoair/h743-aio/src/board_config.h b/boards/micoair/h743-aio/src/board_config.h index 9db51a7db7..dcc045b96f 100644 --- a/boards/micoair/h743-aio/src/board_config.h +++ b/boards/micoair/h743-aio/src/board_config.h @@ -53,7 +53,6 @@ * Definitions ****************************************************************************************************/ -// #define FLASH_BASED_PARAMS /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ @@ -147,7 +146,6 @@ #define BOARD_ENABLE_CONSOLE_BUFFER -#define FLASH_BASED_PARAMS #define BOARD_NUM_IO_TIMERS 4 diff --git a/boards/micoair/h743-aio/src/hw_config.h b/boards/micoair/h743-aio/src/hw_config.h index b02994a1ea..c63c1e6588 100644 --- a/boards/micoair/h743-aio/src/hw_config.h +++ b/boards/micoair/h743-aio/src/hw_config.h @@ -97,9 +97,9 @@ #define INTERFACE_USART_CONFIG "/dev/ttyS0,115200" #define BOOT_DELAY_ADDRESS 0x000001a0 #define BOARD_TYPE 1176 -#define BOARD_FLASH_SECTORS (14) -#define BOARD_FLASH_SIZE (16 * 128 * 1024) -#define APP_RESERVATION_SIZE (1 * 128 * 1024) +#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) +#define BOARD_FLASH_SECTORS (15) +#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) #define OSC_FREQ 8 diff --git a/boards/micoair/h743-v2/default.px4board b/boards/micoair/h743-v2/default.px4board index 821021a753..88ec1b6121 100644 --- a/boards/micoair/h743-v2/default.px4board +++ b/boards/micoair/h743-v2/default.px4board @@ -8,29 +8,47 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7" CONFIG_BOARD_SERIAL_RC="/dev/ttyS5" +CONFIG_BOARD_PARAM_FILE="/fs/microsd/params" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06=y +CONFIG_DRIVERS_CAMERA_CAPTURE=y +CONFIG_DRIVERS_CAMERA_TRIGGER=y CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y -CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y +CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_BOSCH_BMI088=y CONFIG_DRIVERS_IMU_BOSCH_BMI270=y +CONFIG_COMMON_INS=y CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_OPTICAL_FLOW=y +CONFIG_DRIVERS_OSD_MSP_OSD=y +CONFIG_DRIVERS_POWER_MONITOR_INA220=y +CONFIG_DRIVERS_POWER_MONITOR_INA226=y +CONFIG_DRIVERS_POWER_MONITOR_INA228=y +CONFIG_DRIVERS_POWER_MONITOR_INA238=y +CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y +CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y CONFIG_DRIVERS_PPS_CAPTURE=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_COMMON_RC=y CONFIG_DRIVERS_RC_INPUT=y +CONFIG_COMMON_RPM=y +CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_DRIVERS_TAP_ESC=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y -CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_INTERFACES=1 +CONFIG_COMMON_UWB=y +CONFIG_COMMON_WIND_SENSOR=y +CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y +CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y @@ -40,9 +58,9 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_MODE_MANAGER=y -CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y @@ -66,6 +84,8 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y +CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_FAILURE=y @@ -78,7 +98,10 @@ CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y CONFIG_SYSTEMCMDS_SD_BENCH=y CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y +CONFIG_SYSTEMCMDS_SERIAL_TEST=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TESTS=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y CONFIG_SYSTEMCMDS_TUNE_CONTROL=y diff --git a/boards/micoair/h743-v2/extras/micoair_h743-v2_bootloader.bin b/boards/micoair/h743-v2/extras/micoair_h743-v2_bootloader.bin index 678f208420..7038197a01 100755 Binary files a/boards/micoair/h743-v2/extras/micoair_h743-v2_bootloader.bin and b/boards/micoair/h743-v2/extras/micoair_h743-v2_bootloader.bin differ diff --git a/boards/micoair/h743-v2/firmware.prototype b/boards/micoair/h743-v2/firmware.prototype index 3f1a41def8..424c33313e 100644 --- a/boards/micoair/h743-v2/firmware.prototype +++ b/boards/micoair/h743-v2/firmware.prototype @@ -7,7 +7,7 @@ "summary": "MicoAir743v2", "version": "0.1", "image_size": 0, - "image_maxsize": 1835008, + "image_maxsize": 1966080, "git_identity": "", "board_revision": 0 } diff --git a/boards/micoair/h743-v2/init/rc.board_defaults b/boards/micoair/h743-v2/init/rc.board_defaults index 2115bc8848..76ebd8084f 100644 --- a/boards/micoair/h743-v2/init/rc.board_defaults +++ b/boards/micoair/h743-v2/init/rc.board_defaults @@ -22,6 +22,7 @@ param set-default MC_ROLLRATE_K 0.35 param set-default MC_YAWRATE_K 1.2 param set-default MC_YAWRATE_MAX 360 param set-default MAV_TYPE 2 +param set-default MSP_OSD_CONFIG 202 param set-default CA_AIRFRAME 0 param set-default CA_ROTOR_COUNT 4 param set-default CBRK_SUPPLY_CHK 894281 diff --git a/boards/micoair/h743-v2/nuttx-config/scripts/script.ld b/boards/micoair/h743-v2/nuttx-config/scripts/script.ld index 1dc1a0ef97..85f4990724 100644 --- a/boards/micoair/h743-v2/nuttx-config/scripts/script.ld +++ b/boards/micoair/h743-v2/nuttx-config/scripts/script.ld @@ -110,7 +110,7 @@ MEMORY { ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K diff --git a/boards/micoair/h743-v2/src/board_config.h b/boards/micoair/h743-v2/src/board_config.h index 97f36585ad..e3f211638e 100644 --- a/boards/micoair/h743-v2/src/board_config.h +++ b/boards/micoair/h743-v2/src/board_config.h @@ -53,7 +53,6 @@ * Definitions ****************************************************************************************************/ -// #define FLASH_BASED_PARAMS /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ @@ -149,7 +148,6 @@ #define BOARD_ENABLE_CONSOLE_BUFFER -#define FLASH_BASED_PARAMS #define BOARD_NUM_IO_TIMERS 5 diff --git a/boards/micoair/h743-v2/src/hw_config.h b/boards/micoair/h743-v2/src/hw_config.h index a74346eddb..ded5196d73 100644 --- a/boards/micoair/h743-v2/src/hw_config.h +++ b/boards/micoair/h743-v2/src/hw_config.h @@ -97,9 +97,9 @@ #define INTERFACE_USART_CONFIG "/dev/ttyS0,115200" #define BOOT_DELAY_ADDRESS 0x000001a0 #define BOARD_TYPE 1179 -#define BOARD_FLASH_SECTORS (14) -#define BOARD_FLASH_SIZE (16 * 128 * 1024) -#define APP_RESERVATION_SIZE (1 * 128 * 1024) +#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) +#define BOARD_FLASH_SECTORS (15) +#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) #define OSC_FREQ 8 diff --git a/boards/micoair/h743/default.px4board b/boards/micoair/h743/default.px4board index ac84a53cd6..58d6dac967 100644 --- a/boards/micoair/h743/default.px4board +++ b/boards/micoair/h743/default.px4board @@ -7,28 +7,51 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" +CONFIG_BOARD_PARAM_FILE="/fs/microsd/params" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_DPS310=y +CONFIG_DRIVERS_BATT_SMBUS=y +CONFIG_DRIVERS_CAMERA_CAPTURE=y +CONFIG_DRIVERS_CAMERA_TRIGGER=y CONFIG_DRIVERS_CDCACM_AUTOSTART=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y +CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GNSS_SEPTENTRIO=y CONFIG_DRIVERS_GPS=y +CONFIG_COMMON_HYGROMETERS=y CONFIG_DRIVERS_IMU_BOSCH_BMI088=y CONFIG_DRIVERS_IMU_BOSCH_BMI270=y +CONFIG_COMMON_INS=y CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_OPTICAL_FLOW=y +CONFIG_DRIVERS_OSD_MSP_OSD=y +CONFIG_DRIVERS_POWER_MONITOR_INA220=y +CONFIG_DRIVERS_POWER_MONITOR_INA226=y +CONFIG_DRIVERS_POWER_MONITOR_INA228=y +CONFIG_DRIVERS_POWER_MONITOR_INA238=y +CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y +CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y CONFIG_DRIVERS_PPS_CAPTURE=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_COMMON_RC=y CONFIG_DRIVERS_RC_INPUT=y +CONFIG_COMMON_RPM=y +CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_DRIVERS_TAP_ESC=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_UAVCAN=y CONFIG_BOARD_UAVCAN_INTERFACES=1 +CONFIG_COMMON_UWB=y +CONFIG_COMMON_WIND_SENSOR=y +CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y +CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y @@ -38,9 +61,9 @@ CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_MODE_MANAGER=y -CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y @@ -64,6 +87,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_FAILURE=y @@ -76,6 +100,8 @@ CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y CONFIG_SYSTEMCMDS_SD_BENCH=y CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y +CONFIG_SYSTEMCMDS_SERIAL_TEST=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y diff --git a/boards/micoair/h743/extras/micoair_h743_bootloader.bin b/boards/micoair/h743/extras/micoair_h743_bootloader.bin old mode 100644 new mode 100755 index ca8c511279..9cd2a90491 Binary files a/boards/micoair/h743/extras/micoair_h743_bootloader.bin and b/boards/micoair/h743/extras/micoair_h743_bootloader.bin differ diff --git a/boards/micoair/h743/firmware.prototype b/boards/micoair/h743/firmware.prototype index 92f7847051..57e1730340 100644 --- a/boards/micoair/h743/firmware.prototype +++ b/boards/micoair/h743/firmware.prototype @@ -7,7 +7,7 @@ "summary": "MicoAir743", "version": "0.1", "image_size": 0, - "image_maxsize": 1835008, + "image_maxsize": 1966080, "git_identity": "", "board_revision": 0 } diff --git a/boards/micoair/h743/init/rc.board_defaults b/boards/micoair/h743/init/rc.board_defaults index 55b69959dc..b75fc32b5f 100644 --- a/boards/micoair/h743/init/rc.board_defaults +++ b/boards/micoair/h743/init/rc.board_defaults @@ -19,6 +19,7 @@ param set-default MC_ROLLRATE_K 0.35 param set-default MC_YAWRATE_K 1.2 param set-default MC_YAWRATE_MAX 360 param set-default MAV_TYPE 2 +param set-default MSP_OSD_CONFIG 102 param set-default CA_AIRFRAME 0 param set-default CA_ROTOR_COUNT 4 param set-default CBRK_SUPPLY_CHK 894281 diff --git a/boards/micoair/h743/nuttx-config/scripts/script.ld b/boards/micoair/h743/nuttx-config/scripts/script.ld index 1dc1a0ef97..85f4990724 100644 --- a/boards/micoair/h743/nuttx-config/scripts/script.ld +++ b/boards/micoair/h743/nuttx-config/scripts/script.ld @@ -110,7 +110,7 @@ MEMORY { ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K diff --git a/boards/micoair/h743/src/board_config.h b/boards/micoair/h743/src/board_config.h index 48ff3ff203..77004d0742 100644 --- a/boards/micoair/h743/src/board_config.h +++ b/boards/micoair/h743/src/board_config.h @@ -53,7 +53,6 @@ * Definitions ****************************************************************************************************/ -// #define FLASH_BASED_PARAMS /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ @@ -145,7 +144,6 @@ #define BOARD_ENABLE_CONSOLE_BUFFER -#define FLASH_BASED_PARAMS #define BOARD_NUM_IO_TIMERS 4 diff --git a/boards/micoair/h743/src/hw_config.h b/boards/micoair/h743/src/hw_config.h index a428dd5359..5ed1180829 100644 --- a/boards/micoair/h743/src/hw_config.h +++ b/boards/micoair/h743/src/hw_config.h @@ -97,9 +97,9 @@ #define INTERFACE_USART_CONFIG "/dev/ttyS0,115200" #define BOOT_DELAY_ADDRESS 0x000001a0 #define BOARD_TYPE 1166 -#define BOARD_FLASH_SECTORS (14) -#define BOARD_FLASH_SIZE (16 * 128 * 1024) -#define APP_RESERVATION_SIZE (1 * 128 * 1024) +#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) +#define BOARD_FLASH_SECTORS (15) +#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) #define OSC_FREQ 8